# Design and Control of a Multimodal Legged-Aerial Robot via Separate Control Contraction Metrics

- Source: arXiv cs.RO
- Published: 2026-10-21T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/l37xxjul5l2re9jry7f1cyr1q
- Original: https://arxiv.org/abs/2610.27315

## Summary

A paper proposes a design and control method for a multimodal quadrupedal aerial-legged robot, using separate Control Contraction Metrics (CCM) to search offline for contraction metrics for walking and flight respectively, unified by an online energy-based Control Lyapunov Function Quadratic Program (CLF QP) to achieve optimal cross-domain control allocation.